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FlytDocs Release sharvashish_das January 21, 2016

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Page 1: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocsRelease

sharvashish_das

January 21 2016

Contents

1 About FlytSim 3

2 FlytSim Installation Guide 521 FlytSim binaries 522 Build FlytSim from source 6

3 FlytSim Basics 731 Launch FlytSim 732 Kill FlytSim 7

4 Onboard App 941 Execute built-in Demo Apps 942 Create and Compile custom app 1243 Execute custom app 1444 Install custom app 15

5 Web and Mobile Apps 1751 Introduction 1752 Development Environment Setup 1853 Creating and Running a Web Application Project 1854 Sample Web Application 1955 Creating and Running a Mobile Application Project 2256 Sample Mobile Application 23

6 About FlytOS 29

7 List of APIs 3171 Navigation APIs 3172 Parameter Handling APIs 3273 Setup APIs 3274 Vision APIs 32

8 FlytAPI - onboard 3381 Navigation APIs 33

9 FlytAPI - RESTWebsocket 4391 Navigation APIs 43

i

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Welcome to Flyt the next generation platform for commercial drone applications It is by design open for developers tobuild advanced drone applications using its open APIs Flyt consists of FlytOS the software framework and FlytPODthe integrated hardware

FlytOS is based on Linux and ROS (Robot Operating System) making it an ideal platform for research and commercialdrone applications It can interact with any compatible droneautopilot using its adapter layer and exposes high levelFlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integrate payloads and also providesadvanced APIs using its onboard modules These rich set of APIs allow for easy development of onboard businesslogic as well as remote monitoring and control through web and mobile apps The modular design of FlytOS allowsfor integration with external ROSLinux libraries and custom data plumbing between onboard and offboard apps Thevision of FlytOS is to provide a standard language for the drone developers to talk to their drones

FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightlycoupled with the Odroid XU4 SBC It has an onboard WiFi router and several interfaces for custom payloads ra-dio receivers and special sensors etc It comes with PX4 and FlytOS preloaded for an out-of-the-box ready-to-flyexperience

This documentation gives all the inputs to get you started with Flyt You can learn about FlytOS and get a detailedreference for all the FlytAPIs It provides a step by step guide to install and get started with FlytSim simulation onyour laptop You can refer to the sample apps and start building your own onboard and webmobile apps and test themwith FlytSim

Checkout and participate in our forums and interact with the community sharing your use cases feedback and anythingyou need help with You can always reach out to us for any issues at supportflytbasecom

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2 Contents

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

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4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

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$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

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$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

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CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

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Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

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float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

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$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

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find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

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44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

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CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

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52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 2: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

Contents

1 About FlytSim 3

2 FlytSim Installation Guide 521 FlytSim binaries 522 Build FlytSim from source 6

3 FlytSim Basics 731 Launch FlytSim 732 Kill FlytSim 7

4 Onboard App 941 Execute built-in Demo Apps 942 Create and Compile custom app 1243 Execute custom app 1444 Install custom app 15

5 Web and Mobile Apps 1751 Introduction 1752 Development Environment Setup 1853 Creating and Running a Web Application Project 1854 Sample Web Application 1955 Creating and Running a Mobile Application Project 2256 Sample Mobile Application 23

6 About FlytOS 29

7 List of APIs 3171 Navigation APIs 3172 Parameter Handling APIs 3273 Setup APIs 3274 Vision APIs 32

8 FlytAPI - onboard 3381 Navigation APIs 33

9 FlytAPI - RESTWebsocket 4391 Navigation APIs 43

i

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Welcome to Flyt the next generation platform for commercial drone applications It is by design open for developers tobuild advanced drone applications using its open APIs Flyt consists of FlytOS the software framework and FlytPODthe integrated hardware

FlytOS is based on Linux and ROS (Robot Operating System) making it an ideal platform for research and commercialdrone applications It can interact with any compatible droneautopilot using its adapter layer and exposes high levelFlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integrate payloads and also providesadvanced APIs using its onboard modules These rich set of APIs allow for easy development of onboard businesslogic as well as remote monitoring and control through web and mobile apps The modular design of FlytOS allowsfor integration with external ROSLinux libraries and custom data plumbing between onboard and offboard apps Thevision of FlytOS is to provide a standard language for the drone developers to talk to their drones

FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightlycoupled with the Odroid XU4 SBC It has an onboard WiFi router and several interfaces for custom payloads ra-dio receivers and special sensors etc It comes with PX4 and FlytOS preloaded for an out-of-the-box ready-to-flyexperience

This documentation gives all the inputs to get you started with Flyt You can learn about FlytOS and get a detailedreference for all the FlytAPIs It provides a step by step guide to install and get started with FlytSim simulation onyour laptop You can refer to the sample apps and start building your own onboard and webmobile apps and test themwith FlytSim

Checkout and participate in our forums and interact with the community sharing your use cases feedback and anythingyou need help with You can always reach out to us for any issues at supportflytbasecom

Contents 1

FlytDocs Release

2 Contents

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

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FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

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$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

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$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

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CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

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Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

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$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

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find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

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44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

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16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

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FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 3: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

ii

FlytDocs Release

Welcome to Flyt the next generation platform for commercial drone applications It is by design open for developers tobuild advanced drone applications using its open APIs Flyt consists of FlytOS the software framework and FlytPODthe integrated hardware

FlytOS is based on Linux and ROS (Robot Operating System) making it an ideal platform for research and commercialdrone applications It can interact with any compatible droneautopilot using its adapter layer and exposes high levelFlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integrate payloads and also providesadvanced APIs using its onboard modules These rich set of APIs allow for easy development of onboard businesslogic as well as remote monitoring and control through web and mobile apps The modular design of FlytOS allowsfor integration with external ROSLinux libraries and custom data plumbing between onboard and offboard apps Thevision of FlytOS is to provide a standard language for the drone developers to talk to their drones

FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightlycoupled with the Odroid XU4 SBC It has an onboard WiFi router and several interfaces for custom payloads ra-dio receivers and special sensors etc It comes with PX4 and FlytOS preloaded for an out-of-the-box ready-to-flyexperience

This documentation gives all the inputs to get you started with Flyt You can learn about FlytOS and get a detailedreference for all the FlytAPIs It provides a step by step guide to install and get started with FlytSim simulation onyour laptop You can refer to the sample apps and start building your own onboard and webmobile apps and test themwith FlytSim

Checkout and participate in our forums and interact with the community sharing your use cases feedback and anythingyou need help with You can always reach out to us for any issues at supportflytbasecom

Contents 1

FlytDocs Release

2 Contents

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

3

FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 4: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Welcome to Flyt the next generation platform for commercial drone applications It is by design open for developers tobuild advanced drone applications using its open APIs Flyt consists of FlytOS the software framework and FlytPODthe integrated hardware

FlytOS is based on Linux and ROS (Robot Operating System) making it an ideal platform for research and commercialdrone applications It can interact with any compatible droneautopilot using its adapter layer and exposes high levelFlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integrate payloads and also providesadvanced APIs using its onboard modules These rich set of APIs allow for easy development of onboard businesslogic as well as remote monitoring and control through web and mobile apps The modular design of FlytOS allowsfor integration with external ROSLinux libraries and custom data plumbing between onboard and offboard apps Thevision of FlytOS is to provide a standard language for the drone developers to talk to their drones

FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightlycoupled with the Odroid XU4 SBC It has an onboard WiFi router and several interfaces for custom payloads ra-dio receivers and special sensors etc It comes with PX4 and FlytOS preloaded for an out-of-the-box ready-to-flyexperience

This documentation gives all the inputs to get you started with Flyt You can learn about FlytOS and get a detailedreference for all the FlytAPIs It provides a step by step guide to install and get started with FlytSim simulation onyour laptop You can refer to the sample apps and start building your own onboard and webmobile apps and test themwith FlytSim

Checkout and participate in our forums and interact with the community sharing your use cases feedback and anythingyou need help with You can always reach out to us for any issues at supportflytbasecom

Contents 1

FlytDocs Release

2 Contents

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

3

FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 5: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

2 Contents

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

3

FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 6: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 1

About FlytSim

FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the dronehardware It is a ROS-Gazebo based environment where the drone and its world are simulated programmaticallygenerating the state variables while the control algorithms applied are same as onboard the drone (PX4) The FlytAPIsare also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting anative Linux environment using FlytSim FlytSim is based on Pixhawk SITL customised to work with FlytAPIsPlease follow the FlytSim Installation Guide to install FlytSim package and Flytsim Tutorials to start testing your appand see it in action

3

FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 7: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

4 Chapter 1 About FlytSim

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 8: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 2

FlytSim Installation Guide

Before you can start off with installing FlytSim make sure you fulfill all the following dependencies

bull Intel 64 bit architecture

bull Linux - Ubuntu 1404

bull ROS - Indigo

FlytSim is based on Gazebo2 which comes in packaged with ROS Indigo If in case you have an upgraded versionof Gazebo please install Gazebo2 before moving ahead in this tutorial In future we will add support for upgradedversions of Gazebo as well

We have provided the following two approaches for installing FlytSim

bull FlytSim binaries - the preferred approach

bull Build FlytSim from source

21 FlytSim binaries

To install FlytSim binaries

bull Go to the FlytSim download page Download the FlytSimv10zip file Once downloaded unzip the file tofind flytsim_10-1_amd64deb which is the FlytSim debian paclkage and flytsim_installsh an install scriptAlternatively you can create your own install script by copying the following lines

binbash install script for FlytSim TODO for future download md5 file and check md5sum

installing known dependenciesapt-get install ros-indigo-octomap-ros ros-indigo-octomap-msgs libgoogle-glog-dev ros-indigo-control-toolboxinstalling FlytSim packagedpkg -i flytsim_10-1_amd64deb

exit 0

bull Make the install script executable

$ chmod +x ltpath to install scriptgtflytsim_installsh

bull Install FlytSim by executing the install script with sudo privileges

5

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 9: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

$ sudo ltpath to install scriptgtflytsim_installsh

bull Just in case you see any dependency issues cropping up in your screen other than that of Gazebo2 whileexecuting the install script kindly run the following command and execute the install script again

$ sudo apt-get -f install

bull If versions other than Gazebo2 is installed in your system you might encounter dependency issue for Gazebo2We are working to provide support for higher versions of Gazebo as well Till then please install Gazebo2 inyour system before running the install script again

22 Build FlytSim from source

Currently efforts are being put to make FlytSim source code available in github

6 Chapter 2 FlytSim Installation Guide

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 10: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 3

FlytSim Basics

31 Launch FlytSim

Once you have installed FlytSim you are ready to build your own apps and run it out on the simulation software Tolaunch FlytSim run this command in the terminal

$ $(rospack find core_api)scriptsstart_flytOSsh --sitl

Note For first time Gazebo users Gazebo might take some time to launch Be Patient

The above command would launch ROS and Gazebo A quadrotor model-Iris will be automatically spawned for youto start executing your app You can use FlytAPIs in your command line to do some simple maneuvers For example

To make the vehicle take off at its spot execute this command in your terminal$ rosservice call flytpodnavigationtake_off takeoff_alt 20

To send a position setpoint to the vehicle in NED frame execute this command in your terminalrosservice call flytpodnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 30 y 10 z -20angular x 00 y 00 z 00

tolerance 00async falserelative falseyaw_valid falsesetpoint_type 0

Caution Gazebo runs in ENU frame hence the above setpoints given in NED Frame would be transformed toENU Frame by Gazebo

To know more about such commands please refer to FlytAPIs for more details

32 Kill FlytSim

To kill this instance of FlytSim run this command in your terminal

7

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 11: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

$ $(rospack find core_api)scriptskill_flytOSsh --sitl

8 Chapter 3 FlytSim Basics

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 12: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 4

Onboard App

41 Execute built-in Demo Apps

FlytSim package comes with Demo apps which can be executed to do simple navigation tasks Currently CPP andPython based FlytAPIs are available hence DemoApps for both CPP and Python have been provided All the sampleapps can be found at our github link

411 Demo App 1

This demo app makes the robot takeoff move in a square trajectory of side length 5m and land once the entire missionis over

Below is a demo youtube video of the same app

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp1 and its executable demoapp1 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp1

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) Taking Offnavposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)navland() Landing

9

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 13: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

CPP - Code Explained

bull You must include the following header file to make FlytAPI-navigation available for the script

include ltcore_script_bridgenavigation_bridgehgt

bull Create an object of class Navigation through which you can call any navigation FlytAPI

Navigation nav

bull TakeOff command could be sent to vehicle with relative takeoff altitude in metres as argument Over here thetakeoff altitude is 3m

navtakeoff(30) Taking Off

Caution You must ensure to call takeoff() before sending any other position setpoints takeoff() inherentlycalls arm() hence calling arm() directly also arms the vehicle and makes it responsive towards next setpointcommands

bull Position Setpoints could be sent to the vehicle with (xyz) in metres in Local-NED Frame as argument

navposition_set(50-3) Sending Position Setpointsnavposition_set(55-3)navposition_set(05-3)navposition_set(00-3)

bull Land command must be used to send the vehicle into Landing mode

navland() Landing

bull Please refer to FlytAPIs to get more information on the available list of APIs

Python - Execution

The source code demoapp1py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp1py

Python - Code

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

10 Chapter 4 Onboard App

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

41 Execute built-in Demo Apps 11

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float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

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$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

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find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

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FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

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16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 14: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Python - Code Explained

bull Imports and initialization

from flyt_python import api

bull Creating instance of navigation class from flyt_pythonapi

nav = apinavigation() instance of flyt navigation class

bull Actual flight logic

By default position_set() is synchronous in action ie your script will wait for the vehicle to reach the specified targetbefore continuing to execute the next command Visit FlytAPIs for more information

navarm()print taking offnavtakeoff(30)print going along the setpointsnavposition_set(50-3)navposition_set(55-3)navposition_set(05-3)navposition_set(00-3)print Donenavland()print wait for the vehicle to land

412 Demo App 2

Note This demo requires arguments to be passed

This demo app makes the robot takeoff move in a square trajectory of side length provided as an argument to thescript and land once the entire mission is over

CPP - Execution

The source code of this app is located at FlytFlytAppsOnboardsrcDemoApp2 and its executable demoapp2 is atFlytFlytAppsOnboardinstall To execute this app run the following command in your terminal

$ FlytFlytAppsOnboardinstalldemoapp2 3 here 3 is passed as an argument one could send any other float value

CPP - Code

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

if(argc lt 2)stdcoutltltnThis app expects argumentsnexit(0)

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float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

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$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

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find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

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44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

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16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

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52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

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712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 15: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

float side_length = stdstof(argv[1]) Convert Argument from string to floatnavtakeoff(30) Taking Offnavposition_set(side_length0-3) Sending Position Setpoints with side length accepted from scriptnavposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland() Landing

Python - Execution

The source code demoapp2py of this app is located at FlytFlytAppsOnboardinstall To execute this app run thefollowing command in your terminal

$ python FlytFlytAppsOnboardinstalldemoapp2py 3 here 3 is passed as an argument one could send any other float value

Python - Code

usrbinenv python

from flyt_python import apiimport argparse

nav = apinavigation() instance of flyt navigation class

parsing command line argumentsparser = argparseArgumentParser(description=Process a float value)parseradd_argument(side metavar=side_length type=float help=side length of the square)args = parserparse_args()

lets flyside_length = argssideprint flying in square side_lengthnavtakeoff(30)navposition_set(side_length0-3)navposition_set(side_lengthside_length-3)navposition_set(0side_length-3)navposition_set(00-3)navland()print done flying wait for quad to land

42 Create and Compile custom app

To begin with one can download the above two demo apps (CPP and Python) from our github link under OnboardAppsfolder Once downloaded follow the following steps to create your own app

421 CPP

bull Create a directory where you want to keep the source files of your onboard apps

12 Chapter 4 Onboard App

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

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52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

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712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 16: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_cpp_appgt

bull Create your own ltmy_first_cpp_appgtcpp file You can use the following snippet to start building your app

include ltcore_script_bridgenavigation_bridgehgtinclude ltiostreamgt

Navigation navint main(int argc char argv[])

navtakeoff(30) OR navarm() Write your own logic below

bull Copy CMakeListstxt from the downloaded DemoApp1 and paste it inside ltmy_first_cpp_appgt This is theCMakeListstxt file of DemoApp1 To find how to configure this file for ltmy_first_cpp_appgt go to CMake-Liststxt - Explained

cmake_minimum_required(VERSION 283)project(demoapp1)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

bull Create a build directory to host all your build files

$ mkdir ltbuildgt

bull Inside build directory run the cmake command

$ cmake

bull To build your cpp file run the make command

$ make

CMakeListstxt - Explained

bull Enter your project name - ltmy_first_cpp_appgt

project(demoapp1)

bull Make Navigation FlytAPI Library - core_script_bridge and other dependencies available for yourltmy_first_cpp_appgtcpp

42 Create and Compile custom app 13

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

18 Chapter 5 Web and Mobile Apps

FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 17: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

find_package(catkin REQUIRED COMPONENTS core_script_bridge)find_package(Boost REQUIRED COMPONENTS system python)find_package(PythonLibs 27 REQUIRED)include_directories($catkin_INCLUDE_DIRS $PYTHON_INCLUDE_DIRS)

bull Give a suitable name ltmy_first_cpp_appgt to your executable and link it with libraries

add_executable(demoapp1 demoapp1cpp)target_link_libraries(demoapp1 $catkin_LIBRARIES $Boost_LIBRARIES $PYTHON_LIBRARIES)

bull Add the following install command to install your created ltmy_first_cpp_appgt executable target to install space- FlytFlytAppsOnboardinstall This would allow webmobile apps to execute your installed scripts remotely

install(TARGETS demoapp1DESTINATION FlytFlytAppsOnboardinstall COMPONENT Runtime

)

422 Python

bull Create a directory where you want to keep the source files of your onboard apps

$ mkdir ltsitl_onboard_appsgt

bull Create a directory inside ltsitl_onboard_appsgt for your first app

$ mkdir ltmy_first_python_appgt

bull Create your own ltmy_first_python_appgtpy file You can use the following snippet to start building your app

usrbinenv python

from flyt_python import apinav = apinavigation() instance of flyt navigation class

Write your own logic below

43 Execute custom app

431 CPP

bull After compiling your ltmy_first_cpp_appgt project your executable ltmy_first_cpp_appgt will be created insideltbuildgt directory

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_cpp_appgt cpp executable from terminal

432 Python

bull If FlytSim is not launched launch FlytSim using this command

bull Execute your ltmy_first_python_appgtpy python script from terminal

14 Chapter 4 Onboard App

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

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16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

FlytDocs Release

56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 18: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

44 Install custom app

441 CPP

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelyrun this command in your terminal

$ sudo cmake -DCOMPONENT=Runtime -P cmake_installcmake

442 Python

To install your app into FlytFlytAppsOnboardinstall space so that your AndroidWeb App could execute it remotelymake your python script executable

$ sudo chmod +x ltmy_first_python_appgtpy

and copy this script to mentioned location

$ sudo cp ltmy_first_python_appgtpy FlytFlytAppsOnboardinstall

44 Install custom app 15

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 19: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

16 Chapter 4 Onboard App

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

17

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 20: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 5

Web and Mobile Apps

51 Introduction

This document deals with the instructions and step by step guide for creating Web and Mobile apps for your DroneThe Web apps can be developed using HTML CSS and JS however in the case of Mobile apps there are two ways ofdoing so The conventional way is to build a mobile app in JAVA using IDEs such as Eclipse or Android Studio Theother way of going about creating mobile apps is to reuse the Web app code ie a simple HTMLCSS and JS projectand convert that into a mobile app using frameworks such as Cordova and Phonegap This allows for sharing the samecodebase for creating cross-platform mobile apps

Here we will delve into the second approach developing a web app with HTML CSS JSJquery and Cordova engineThese apps will allow you to remotely monitor and command your drone You will also see how to get custom datafrom the Drone on your app

The IDE that we have selected for this project is Intellij Idea The GUI and the client side coding is done in HTMLCSS and JSJquery then reusing the code to create mobile apps using Ionic as the front end framework for both Weband Mobile apps

511 Front end Framework

Ionic is free and open source and offers a library of mobile optimized HTML CSS and JS components reusableand customizable UI elements and other tools for building highly interactive mobile appsWe will be using Ionic forthe front end development of Web apps since we will be converting these Web apps into Mobile apps later in thistutorialIonic uses Cordova engine which is a mobile development framework that uses web technologies for crossplatform app development You can refer to Ionic getting started guide for further instructions and to make yourselffamiliarized with the Ionic framework For details about Cordova you can look at their documentation here

Note There are many other Web and Mobile app front end frameworks available You can use any framework thatyou are comfortable with The UI of an app may have to be designed separately for web and mobile for platformspecific optimizations

512 IDE

The IDE that we have used here is IntelliJ IDEA There are many other options available so feel free to use one that youare comfortable with IntelliJ IDEA supports Ionic( Front end framework) and allows you to create PhonegapCordovaprojects Since we will be using both these softwares make sure the IDE that you use supports them For moreinformation on IntelliJ IDEA click here

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52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

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712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 21: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

52 Development Environment Setup

For a quick start you can follow the steps given below to install Ionic Cordova and IntelliJ IDEA

1 Please install Nodejs v4 (Nodejs v5 does not work at the moment with Ionic) To install nodejs go to this link

2 To install the latest Ionic and Cordova use the following command $ npm install -g cordovaionic

3 Follow the Android and iOS platform guides to install required platform dependencies (SDKs)

Note Follow this step for Mobile app development only iOS development requires Mac OS X iOS simu-lator through the Ionic CLI requires the ios-sim npm package which can be installed with the command sudonpm -g install ios-sim

4 IntelliJ IDEA also requires JDK 7 To install JDK 7 go to this link

5 Go to the link here to install IntelliJ IDEA

53 Creating and Running a Web Application Project

Once all components are setup you can begin app development by creating a new project in IntelliJ IDEA

531 Steps to Create New Project for Web App

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure Static Web is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

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532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
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FlytDocs Release

532 Building and Running the Project

You can build and run the app using IntelliJ IDEA in a browser Follow the steps below to do so

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

54 Sample Web Application

Note The source code for the sample webmobile apps is available in github in above mentioned repository for yourreference

Following is a simple demonstration of how to build a Web application for your drone This application allows youto trigger an on-board script that sends commands to your drone to trace a square of user defined dimension We willalso see how to stream live data from your drone

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone trace a square

3 The JS code that calls the on-board script is as follows

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

54 Sample Web Application 19

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Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 23: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

20 Chapter 5 Web and Mobile Apps

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2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

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$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

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To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 24: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

Live data streaming from drone

In this example we stream live data of location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)

54 Sample Web Application 21

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

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Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 25: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

Note Please note that you will have to change the IP address in the FlytDemo_web JS file to the IP address ofthe device you run FlytSim on This is required so that data can be received on any external device that you haveconnected

55 Creating and Running a Mobile Application Project

551 Steps to Create New Project for Mobile App

Note Most of the steps involved in creating a Mobile app are similar to that of a Web app except that you will haveto select PhoneGapCordova Project instead of Static Web while creating a new project

Follow the steps below to get create a mobile app

1 Launch IntelliJ IDEA and click on create new project

2 Select Static Web in the new window on the left side

3 Make sure PhoneGapCordova App is selected on the right and click on next

4 Fill up details of your project viz Project Name and Project Location Click on Finish

5 New project opens up You can createedit your HTML CSS and JSJquery files here

The front end of the app is developed in HTML CSS JSJquery using the Ionic components

22 Chapter 5 Web and Mobile Apps

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 26: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

To use these components in your app the Ionic libraries have to be included in your HTML files Here is a list of Ionicfiles that have to be included

1 ioniccss

2 ionicmincss

3 ionicbundlejs

4 ionicbundleminjs

5 fonts file

Also include eventemitter2minjs and then roslibjs in your HTML pages

ltscript type=textjavascript src=httpcdnrobotwebtoolsorgEventEmitter2currenteventemitter2minjsgtltscriptgtltscript type=textjavascript src=httpcdnrobotwebtoolsorgroslibjscurrentroslibminjsgtltscriptgt

552 Building and Running the Project

You can build and run the app using IntelliJ IDEA in either a browser based emulator or load the app on your mobiledevice

Running in Browser

bull Go to view

bull Click on the Open in browser option

bull Select the browser of your choice

Running in Device

bull Connect mobile device to computer using a USBuUSB cable

bull Select Specify target in IntelliJ Idea corresponding to your device (Refresh if necessary)

bull Click on Run button to start building your app and to install it on the device

56 Sample Mobile Application

In the earlier section we had built a Web app for the drone we can also build an AndroidiOS application by convertingthis Web app using Cordova This application allows you to trigger an on-board script from a mobile that sendscommand to your drone to trace a square and receive live data from it

Just like in the Web app an on-board script is executed here as well to make the drone navigate in a particular manner

Following are the components for this application

Button to Execute Script

1 Here we create a simple button using the Ionic component lsquoButtonrsquo The HTML code for which is as follows

ltbutton class=button button-block button-positive id=squaregtExecute Squareltbuttongt

2 This button when clicked executes the on-board script which makes the drone form a square

3 The JS code that calls the on-board script is as follows

56 Sample Mobile Application 23

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$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 27: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

$(square)click(function()var msgdata=msgdata[app_name]=app2msgdata[arguments]=3$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+ros+namespace+navigationexec_script

The above mentioned code allows you to execute the on-board script with default square dimension We now see howto use user defined square dimension to do the same

Text-Box for accepting Square dimension

1 First create a text area that accepts input from the user The input here will be the Square dimension Use thefollowing Ionic code for creating the input text box

ltlabel class=item item-inputgtltinput type=text placeholder=Enter Square Dimension id=dimensiongtltlabelgt

2 On clicking the button created in step 1 the dimension set by the user is sent to the on-board script The scriptis then executed and the drone forms a square of the dimension set by the user

24 Chapter 5 Web and Mobile Apps

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

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CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 28: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Live data streaming from drone

In this example we request location status from the drone using topic Local Position

1 First create a list using the code given below Ionic provides a collection of lists that can be used

ltdiv class=itemgtltdiv class=rowgt

ltdiv class=col col-20 col-offset-10gtXltdivgtltdiv class=col col-65 col-offset-20 id=posxgtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtYltdivgtltdiv class=col col-65 col-offset-20 id=posygtltdivgt

ltdivgtltdivgtltdiv class=itemgt

ltdiv class=rowgtltdiv class=col col-20 col-offset-10gtZltdivgtltdiv class=col col-65 col-offset-20 id=poszgtltdivgt

ltdivgtltdivgt

2 We have also used the Ionic Grid component in order to arrange the elements of the list

3 Before you can stream data the namespace and websocket have to be set Use the code given below

$ajax(type POSTdataType jsondata JSONstringify(msgdata)url http+ip+rosget_global_namespace

4 And for initializing websocket use the following code snippet

56 Sample Mobile Application 25

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var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

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56 Sample Mobile Application 27

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Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

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30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

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712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 29: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

var ros = new ROSLIBRos(url ws+ip+websocket) roson(connection function() consolelog(Connected to websocket server)) roson(error function(error) consolelog(Error connecting to websocket server error)) roson(close function() consolelog(Connection to websocket server closed))

5 The JS to initialize Local Position topic and to subscribe to it is as follows The data is being displayed in theHTML list

var listenerLocalPosition = new ROSLIBTopic(ros rosname +namespace+mavroslocal_positionlocalmessageType geometry_msgsTwistStampedthrottle_rate 200)listenerLocalPositionsubscribe(function(message) $(posx)html(messagetwistlinearx)$(posy)html(messagetwistlineary)$(posz)html(messagetwistlinearz)

)

26 Chapter 5 Web and Mobile Apps

FlytDocs Release

56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 30: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

56 Sample Mobile Application 27

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 31: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Note Please note that you will have to change the IP address in the FlytDemo JS file to the IP address of the deviceyou run FlytSim on This is required so that data can be received on any external device that you have connected

28 Chapter 5 Web and Mobile Apps

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 32: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 6

About FlytOS

FlytOS is the software framework of Flyt It is based on Linux and ROS (Robot Operating System) making it an idealplatform for research and commercial drone applications It can interact with any compatible droneautopilot using itsadapter layer and exposes high level FlytAPIs in ROS CPP Python REST and Websocket It makes it easy to integratecustom payload and also provides advanced APIs using its onboard modules These rich set of APIs allow for easydevelopment of onboard business logic as well as remote monitoring and control through web and mobile apps Themodular design of FlytOS allows for integration with external ROSLinux libraries and custom data plumbing betweenonboard and offboard apps

FlytOS will come preloaded with FlytPOD Alternately it will also be available for download and can then be installedon a LinuxROS based computer This setup allows for integration with any compatible droneautopilot

The apps developed with FlytAPIs can talk to compatible droneautopilot as well as can be tested in a virtualROSGazebo environment using FlytSim The vision of FlytOS is to provide a standard language for the drone devel-opers to talk to their drones

29

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 33: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

30 Chapter 6 About FlytOS

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 34: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 7

List of APIs

This document lists out all the available FlytAPIs

71 Navigation APIs

These APIs can be used to send navigational commands to the vehicle and access telemetry data from the vehicle

711 Commands

These are the list of available APIs for sending commands to the vehicle

bull Arm (onboard) (REST)

bull Disarm (onboard) (REST)

bull Takeoff (onboard) (REST)

bull Land (onboard) (REST)

bull Position Setpoint (onboard) (REST)

bull Velocity Setpoint (onboard) (REST)

bull Attitude Setpoint (onboard) (REST)

bull Position HoldLoiterHover (onboard) (REST)

bull Execute Onboard CPPPython Script (onboard) (REST)

bull Waypoint Handling

ndash Send Waypoints

ndash Get Waypoints

ndash Clear Waypoints

ndash Jump to a specific Waypoint

ndash Pause Waypoints

ndash ExecuteResume Waypoints

31

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 35: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

712 Access Telemetry Data

These are the list of available APIs for accessing telemetry data from the vehicle

bull Attitude

ndash Euler (onboard) (REST)

ndash Quaternion (onboard) (REST)

bull Position

ndash Local NED Frame (onboard) (REST)

ndash Global LLA Frame (onboard) (REST)

72 Parameter Handling APIs

These APIs help you in tweaking system parameters

bull Get Global Namespace

bull Param Create

bull Param Set

bull Param Get

bull Param Get_all

bull Param Delete

bull Param Save

bull Param Load

73 Setup APIs

These APIs help you in setting up your vehicle This FlytAPI documentation is under construction

bull Sensor Calibration

bull ESC Calibration

bull RC Calibration

bull Actuator Testing

bull Autopilot Reboot

74 Vision APIs

These APIs provide image capture API and some image processing APIs This FlytAPI documentation is underconstruction

32 Chapter 7 List of APIs

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 36: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 8

FlytAPI - onboard

FlytAPIs have been extended from ROS to CPP Python REST and Websocket This document describes all theavailable onboard(ROSCPPPython) FlytAPIs in details

Caution This guide is under active development

81 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

811 ARM

Danger This command might turn on the motors if their ESCs are powered up

This API arms the vehicle passes controller outputs to the mixer

ROS

Service Name flytsimnavigationarm

Service Type core_apiArm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationarm

33

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 37: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

CPP

int Navigationarm(void)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navarm())

coutltltSystem ARMEDelse

coutltltFailed to ARM system

Python

navigationarm(self)

Returns 0 if the vehicle gets ARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navarm()

812 Disarm

This API disarms the vehicle disconnects controller outputs from the mixer

ROS

Service Name flytsimnavigationdisarm

Service Type core_apiDisarm below is its description

Request NULLResponse return success=true if command is successful

---bool success

Usage

rosservice call flytsimnavigationdisarm

CPP

int Navigationdisarm(void)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

34 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 38: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navif(navdisarm())

coutltltSystem DISARMEDelse

coutltltFailed to DISARM system

Python

navigationdisarm(self)

Returns 0 if the vehicle gets DISARMED else returns 1

Usage

from flyt_python import apinav = apinavigation()navdisarm()

813 TakeOff

This API sends takeoff command to the autopilot The API accepts takeoff_alt argument which specifies the TakeOffheight in meters above the current positon It must always be a positive quantity

Note This API runs in synchronous mode which means the API call wonrsquot return unless either the provided take-off_alt is achieved or timeout(30secs) called

ROS

Service Name flytsimnavigationtake_off

Service Type core_apiTakeOff below is its description

Request expects take off altitude in metresResponse returns success=true is takeoff altitude is reached

float32 takeoff_alt---bool success

Usage

rosservice call flytsimnavigationtake_off takeoff_alt 30

CPP

int Navigationtake_off(float takeoff_alt = 50)

Parameters

bull takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

81 Navigation APIs 35

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Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 39: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavtake_off(30)

Python

navigationtake_off(self takeoff_alt = 50)

Parameters takeoff_alt ndash TakeOff Altitude in meters with default value of 50

Returns 0 if the vehicle reaches takeoff_alt before timeout=30sec else returns 1

Usage

from flyt_python import apinav = apinavigation()navtake_off(30)

814 Land

This API sends land command to the autopilot Currently you cannot send arbitrary position coordinates to land onthe vehicle considers its current local position at the time of triggering this command as its landing coordinates

Note This API runs in asynchronous mode which means the API call would return as soon as landing command hasbeen sent to the autopilot irrespective of whether the vehicle has landed or not

ROS

Service Name flytsimnavigationland

Service Type core_apiLand below is its description

Request NULLResponse return success=true if Land command sent successfully to autopilot

---bool success

Usage

rosservice call flytsimnavigationland

CPP

int Navigationland(void)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

36 Chapter 8 FlytAPI - onboard

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

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bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

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REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

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915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 40: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavland()

Python

navigationland(self)

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navland()

815 Position Setpoint

This API sends position setpoint command to the autopilot Additionally you can send yaw setpoint (yaw_valid flagmust be set true) to the vehicle as well Some abstract features have been added such as toleranceacceptance-radiussynchronousasynchronous mode sending setpoints relative to current position (relative flag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the positionsetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationposition_set

Service Type core_apiPositionSet below is its description

Request expects position setpoint via twisttwistlinearxlinearylinearzRequest expects yaw setpoint via twisttwistangularz (send yaw_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

int8 SETPOINT_TYPE_POSITION = 0int8 SETPOINT_TYPE_TAKEOFF = 3int8 SETPOINT_TYPE_LAND = 4

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_validint8 setpoint_type---bool success

Usage

81 Navigation APIs 37

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rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

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from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

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58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 41: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

rosservice call flytsimnavigationposition_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 10 y 35 z -50angular x 00 y 00 z 05

tolerance 00async falserelative falseyaw_valid truesetpoint_type 0

sends (xyz)=(1035-50) yaw=012 tolerance=10m relative=false async=false yaw_valid=truedefault value of tolerance=10m if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters default value=10m

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

38 Chapter 8 FlytAPI - onboard

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 42: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

bull tolerance (float) ndash Acceptance radius in meters default value=10m

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

816 Velocity Setpoint

This API sends velocity setpoint command to the autopilot Additionally you can send yaw_rate setpoint(yaw_rate_valid flag must be set true) to the vehicle as well Some abstract features have been added such astoleranceacceptance-radius synchronousasynchronous mode sending setpoints relative to current velocity (relativeflag must be set true)

Tip Asynchronous mode - The API call would return as soon as the command has been sent to the autopilotirrespective of whether the vehicle has reached the given setpoint or not

Tip Synchronous mode - The API call would wait for the function to return which happens when either the velocitysetpoint is reached or timeout=30secs is over

ROS

Service Name flytsimnavigationvelocity_set

Service Type core_apiVelocitySet below is its description

Request expects velocity setpoint via twisttwistlinearxlinearylinearzRequest expects yaw_rate setpoint via twisttwistangularz (send yaw_rate_valid=true)Response return success=true (if async=false ampamp if setpoint reached before timeout = 30sec) || (if async=true ampamp command sent to autopilot)

geometry_msgsTwistStamped twistfloat32 tolerancebool asyncbool relativebool yaw_rate_valid---bool success

Usage

rosservice call flytsimnavigationvelocity_set twistheaderseq 0stamp secs 0 nsecs 0frame_id

twistlinear x 05 y 02 z -01angular x 00 y 00 z 01

81 Navigation APIs 39

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tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

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42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 43: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

tolerance 0async falserelative falseyaw_rate_valid true

sends (vxvyvz)=(0502-01) yaw_rate=01 tolerance=10ms relative=false async=false yaw_rate_valid=truedefault value of tolerance=10ms if left at 0

CPP

int position_set(float x float y float z float yaw_setpoint = 0 float tolerance = 0 bool relative = falsebool async = false bool yaw_valid = false)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint ndash Yaw Setpoint in radians

bull yaw_valid ndash Must be set to true if yaw setpoint is provided

bull tolerance ndash Acceptance radius in meters

bull relative ndash If true position setpoints relative to current position is sent

bull async ndash If true asynchronous mode is set

Returns For async=true returns 0 if the command is successfully sent to the vehicle else returns1 For async=false returns 0 if the vehicle reaches given setpoint before timeout=30secs elsereturns 1

Usage

include ltcore_script_bridgenavigation_bridgehgt

Navigation navnavposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

Python

navigationposition_set(self x y z yaw=00 tolerance=00 relative=False async=Falseyaw_valid=False)

Parameters

bull xyz ndash Position Setpoint in NED-Frame

bull yaw_setpoint (float) ndash Yaw Setpoint in radians

bull yaw_valid (bool) ndash Must be set to true if yaw setpoint is provided

bull tolerance (float) ndash Acceptance radius in meters

bull relative (bool) ndash If true position setpoints relative to current position is sent

bull async (bool) ndash If true asynchronous mode is set

Returns 0 if the land command is successfully sent to the vehicle else returns 1

Usage

40 Chapter 8 FlytAPI - onboard

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 44: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

from flyt_python import apinav = apinavigation()navposition_set(10 35 -50 012 50 false false true)sends (xyz)=(1035-50) yaw=012 tolerance=50m relative=false async=false yaw_valid=true

81 Navigation APIs 41

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

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REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

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52 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

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918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

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REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

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Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 45: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

42 Chapter 8 FlytAPI - onboard

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 46: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

CHAPTER 9

FlytAPI - RESTWebsocket

FlytAPIs have been extended from ROS to REST and Websocket This document describes all the availableRESTWebsocket FlytAPIs in details

Caution This guide is under active development

91 Navigation APIs

These APIs allows you to have navigational control over your vehicle and also provides vehicle telemetry data forfurther processing

911 Namespace

This namespace is a part of the url for all other rest calls and websocket connectionThis has to be the first rest callbefore any other rest call or web socket connection

43

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

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REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 47: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosget_global_namespaceltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falseparam_info

param_value [String]

true command accepted by system and returnsnamespaceparam_info the namespace value

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosget_global_namespacerdquosuccess function(data)

consolelog(data)

)

912 Arm

Arming the drone means you are ready to fly In this mode the controller outputs are passed to the mixer

44 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

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916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

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917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

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91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

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919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

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58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

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9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

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91 Navigation APIs 61

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REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

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9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

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66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 48: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system armsfalse command rejected by system and system remainsdisarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationarmrdquosuccess function(data)

consolelog(data)

)

913 Disarm

Disarming the drone means you have finished flying and the drone can be handled and safe to approach In disarmedstate the drone does not react to any RC inputs given or mission execution commands

91 Navigation APIs 45

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

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91 Navigation APIs 47

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REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

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Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 49: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationdisarmltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and system disarmsfalse command rejected by system and system remainsarmed

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationdisarmrdquosuccess function(data)

consolelog(data)

)

914 Takeoff

Takeoff command arms the drone and the drone hovers at a given height Height is provided as a parameter to this APIcall

46 Chapter 9 FlytAPI - RESTWebsocket

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91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 50: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

91 Navigation APIs 47

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 51: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationtake_offltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

takeoff_alt [numeric float]

Examplemsgdata=

takeoff_alt 300

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone takesofffalse command rejected by system and system remainsas it is

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotakeoff_altrdquo]=400$ajax(

type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosrdquo+namespace+rdquonavigationtake_offrdquosuccess function(data)

consolelog(data)

)48 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 52: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

915 Land

Land command brings th e drone down to the specified local coordinated This does not disarm the system

REST

URL

httpltipgtrosnavigationlandltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone landsfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationlandrdquosuccess function(data)

consolelog(data)

)

91 Navigation APIs 49

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 53: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

916 Hover

This command commands the vehicle to hover at the current location It overrides any previous mission being carriedout and starts hovering

REST

URL

httpltipgtrosnavigationposition_holdltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the dronehovering at a locationfalse command rejected by system and systemcontinues with current mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

$ajax(type ldquoPOSTrdquodataType ldquojsonrdquodata JSONstringify(msgdata)url ldquohttpltipgtrosnavigationposition_holdrdquosuccess function(data)

consolelog(data)

)

50 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 54: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

917 Position Setpoint

This command commands the vehicle to go to a specified location and hover It overrides any previous mission beingcarried out and starts hovering

91 Navigation APIs 51

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 55: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

52 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 56: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationposition_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move towards the defined locationfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationposition_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear x yz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The radial value within which the setpoint isconsidered reachedrelative Decides whether the give xyz coordination aresupposed to be taken relative to the current location

or relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

91 Navigation APIs 53

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 57: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

918 Velocity Setpoint

This command commands the vehicle to attain a specified velocity in the specified direction It overrides any previousmission being carried out

54 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 58: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

91 Navigation APIs 55

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 59: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationvelocity_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

linearx [numeric float]y [numeric float]z [numeric float]

angular

z [numeric float]

tolerance [numeric float]async [boolean]relative [boolean]yaw_valid [boolean]

Example

msgdata=twist

twistlinear

x 200y 300z -100

angular

z 10

tolerance 200async truerelative falseyaw_valid true

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the set velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquolinearrdquo]=msgdatatwisttwistlinear[rdquoxrdquo]=200msgdatatwisttwistlinear[rdquoyrdquo]=300msgdatatwisttwistlinear[rdquozrdquo]=-100msgdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquozrdquo]=100msgdata[rdquotolerancerdquo]=200msgdata[rdquoasyncrdquo]=truemsgdata[rdquorelativerdquo]=falsemsgdata[rdquoyaw_validrdquo]=true

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationvelocity_setrdquosuccess function(data)

consolelog(data)

)

NOTE

linear xyz xyz local position coordinates withrespect to NEDangular z used for heading when yaw_valid set totruetolerance The range with respect to set velocity withinwhich the setpoint is considered reachedrelative Decides whether the given xyz coordinationare supposed to be taken relative to the current locationor relative to originyaw_valid Decides whether to use angular z value fordeciding the setpoint heading or just use defaultheading

56 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 60: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

919 Attitude Setpoint

This command commands the vehicle to attain a specified attitude It overrides any previous mission being carriedout

91 Navigation APIs 57

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 61: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

58 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 62: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationattitude_setltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

twisttwist

angularx [numeric float]y [numeric float]z [numeric float]

thrust [numeric float]

Example

msgdata=twist

twistlinear

x 200y 300z -100

thrust 60000

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsto move to to attain the given velocityfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquotwistrdquo]=msgdatatwist[rdquotwistrdquo]=masdatatwisttwist[rdquoangularrdquo]=msgdatatwisttwistangular[rdquoxrdquo]=200msgdatatwisttwistangular[rdquoyrdquo]=300msgdatatwisttwistangular[rdquozrdquo]=-100msgdata[rdquothrustrdquo]=60000

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationattitude_setrdquosuccess function(data)

consolelog(data)

)

NOTE

angular xyz roll pitch yaw values for attitudesetpoint

91 Navigation APIs 59

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 63: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

9110 Execute Script

This command commands the vehicle to perform a predefined or user defined scripts when called with specific appname and its respective parameters It overrides any previous mission being carried out

60 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 64: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

91 Navigation APIs 61

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 65: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

REST

URL

httpltipgtrosnavigationexec_scriptltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090ltnamespacegt Name of the flytpod (default flytpod)which is required for every rest call and can be

fetched from get namespace rest call

METHOD GET POSTDATA PARAMS

data JSONstringify(msgdata)msgdata=

app_name [String]arguments [String]

Example

msgdata=app_name ldquoapp12rdquoarguments ldquo2 45 4 runrdquo

SUCCESS RESPONSE

Code 200Content

success true falsetrue command accepted by system and the drone startsexecuting the scriptfalse command rejected by system and systemcontinues with existing mission

ERROR RESPONSE

Code 404resource not found

SAMPLE CALL

var msgdata=msgdata[rdquoapp_namerdquo]= ldquoapp12rdquomsgdata[rdquoargumentsrdquo]= ldquo2 45 4 runrdquo

$ajax(type ldquoGETrdquodataType ldquojsonrdquodata JSONstringify(msgdata)urlldquohttpltipgtrosltnamespacegtnavigationexec_scriptrdquosuccess function(data)

consolelog(data)

)

NOTE

app_name The name of the script to be executedarguments List of arguments required by the scriptsent in a single string seperated by spaces

62 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 66: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

9111 Websocket Initiallisation

Websocket needs to be initialised once in every session It requires additional libraries eventemitterjs and roslibjsto be included in case of web based client

Socket

URL

wsltipgtwebsocketltipgt IP of the flytpod in the network along with port

eg 192168xxxx9090

SAMPLE CALL

var ros= new ROSLIBRos(url lsquowsltipgtwebsocketrsquo

)

roson(lsquoconnectionrsquo function() consolelog(lsquoConnected to websocketserverrsquo)

)

roson(lsquoerrorrsquo function() consolelog(lsquoError connecting towebsocket serverrsquo error)

)

roson(lsquoclosersquo function() consolelog(lsquoConnection to websocketserver closedrsquo)

)

9112 Attitude data

Fetches real time attitude data at required rate To be done after initialization of websocket

91 Navigation APIs 63

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 67: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerImu = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavrosimudatarsquomessageType lsquosensor_msgsImursquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messageorientationx)consolelog(messageorientationy)consolelog(messageorientationz)consolelog(messageorientationw)consolelog(messageangular_velocityx)consolelog(messageangular_velocityy)consolelog(messageangular_velocityz)consolelog(messagelinear_accelerationx)consolelog(messagelinear_accelerationy)consolelog(messagelinear_accelerationz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required attitude datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

9113 Local Position data

Fetches real time local position data at required rate To be done after initialization of websocket

64 Chapter 9 FlytAPI - RESTWebsocket

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 68: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

Socket

INITIALISATION SAMPLE

var listenerLocalPosition = new ROSLIBTopic(ros rosname lsquoltnamespacegtmavroslocal_positionlocalrsquomessageType lsquogeometry_msgsTwistStampedrsquothrottle_rate 200

)

ltnamespacegt Name of the flytpod (default flytpod)which is required for every socket subscription and canbe fetched from get namespace rest call

SUBSCRIPTION SAMPLE

listenerImusubscribe(function(message) consolelog(messagetwistlinearx)consolelog(messagetwistlineary)consolelog(messagetwistlinearz)consolelog(messagetwistangularx)consolelog(messagetwistangulary)consolelog(messagetwistangularz)

)

NOTES

ros Pointed to the ros object created in theinitialization of a web socket connectionname Requires the name of the topic which gives outthe required datamessageType Set the type of predefined data structureused to deliver the required local position datathrottle_rate Sets the rate at which callbacks are calledin miliseconds

91 Navigation APIs 65

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 69: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

FlytDocs Release

66 Chapter 9 FlytAPI - RESTWebsocket

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs
Page 70: FlytDocs - media.readthedocs.org · FlytPOD is an integrated hardware stack with a hybrid architecture consisting of a Pixhawk like custom board tightly coupled with the Odroid XU4

Index

Aapi 32 41api_list 29

Nnavigationarm() (built-in function) 34navigationdisarm() (built-in function) 35navigationland() (built-in function) 37navigationposition_set() (built-in function) 38 40navigationtake_off() (built-in function) 36Navigationarm (C++ function) 34Navigationdisarm (C++ function) 34Navigationland (C++ function) 36Navigationtake_off (C function) 35

Pposition_set (C++ function) 38 40

67

  • About FlytSim
  • FlytSim Installation Guide
    • FlytSim binaries
    • Build FlytSim from source
      • FlytSim Basics
        • Launch FlytSim
        • Kill FlytSim
          • Onboard App
            • Execute built-in Demo Apps
            • Create and Compile custom app
            • Execute custom app
            • Install custom app
              • Web and Mobile Apps
                • Introduction
                • Development Environment Setup
                • Creating and Running a Web Application Project
                • Sample Web Application
                • Creating and Running a Mobile Application Project
                • Sample Mobile Application
                  • About FlytOS
                  • List of APIs
                    • Navigation APIs
                    • Parameter Handling APIs
                    • Setup APIs
                    • Vision APIs
                      • FlytAPI - onboard
                        • Navigation APIs
                          • FlytAPI - RESTWebsocket
                            • Navigation APIs

ODROID › wp-content › uploads › ODROID... · 2017-09-13 · ODROID Magazine, Una revista gratuita mensual en formato PDF. Esta moderna publicación electrónica ofrecerá las

ODROID › wp-content › uploads › ODROID... · 2017-09-13 · ODROID Magazine, Una revista gratuita mensual en formato PDF. Esta moderna publicación electrónica ofrecerá las

Ejecutar Netflix en Linux • ODROID C1+ • Juegos ... · Año dos Num. #21 ODROID Sep 2015 Magazine Ejecutar Netflix en Linux • ODROID C1+ • Juegos Android • SAMIIO Fundamentos

Ejecutar Netflix en Linux • ODROID C1+ • Juegos ... · Año dos Num. #21 ODROID Sep 2015 Magazine Ejecutar Netflix en Linux • ODROID C1+ • Juegos Android • SAMIIO Fundamentos

Year Four Issue #41 May 2017 Magazine Repurpose your N64 · 2017-09-13 · furbish it with an ODROID-XU4 running ODROID GameS - tation Turbo, RetroPie or Lakka and turn it into a

Year Four Issue #41 May 2017 Magazine Repurpose your N64 · 2017-09-13 · furbish it with an ODROID-XU4 running ODROID GameS - tation Turbo, RetroPie or Lakka and turn it into a

Design and Implementation of SmartLab Infrastructuresci.tamucc.edu/~cams/projects/521.pdflike Raspberry pi, Odroid-XU4 and Lattepanda were tested and found that all the three boards

Design and Implementation of SmartLab Infrastructuresci.tamucc.edu/~cams/projects/521.pdflike Raspberry pi, Odroid-XU4 and Lattepanda were tested and found that all the three boards

ODROID Magazine October 2014

ODROID Magazine October 2014

ODROID Magazine 201301

ODROID Magazine 201301

ODROID-HC1 and ODROID-MC1: Aordable High-Performance · My ODROID-C2 Docker Swarm: Part 1 – Swarm Mode Features September 1, 2017 By Andy Yuen Docker, Linux, ODROID-C2 Docker introduced

ODROID-HC1 and ODROID-MC1: Aordable High-Performance · My ODROID-C2 Docker Swarm: Part 1 – Swarm Mode Features September 1, 2017 By Andy Yuen Docker, Linux, ODROID-C2 Docker introduced

ODROID-XU4 … · digital integrado BME280 de Bosch Sensortec. Integrar los resultados de BME280 en los cálculos para la calidad del aire CCS811 podría llegar a ser una tarea bastante

ODROID-XU4 … · digital integrado BME280 de Bosch Sensortec. Integrar los resultados de BME280 en los cálculos para la calidad del aire CCS811 podría llegar a ser una tarea bastante

ODROID-HC1 and ODROID-MC1: Aordable High-Performance · 2017-11-10 · My ODROID-C2 Docker Swarm: Part 1 – Swarm Mode Features September 1, 2017 By Andy Yuen Docker, Linux, ODROID-C2

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Bus Controller Area Network (CAN): Implementación para ODROID- · 2018-04-17 · Bus Controller Area Network (CAN): Implementación para ODROID-C1+ y ODROID-XU4 February 1, 2018

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Hardkernel ODROID 공개자료

Hardkernel ODROID 공개자료

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New Home Automation with Home Assistant - Home | … · 2018. 3. 15. · Home Automation with Home Assistant March 1, 2018 By Adrian Popa ODROID-C1+, ODROID-C2, ODROID-XU4 There comes

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Pixhawk and other electronics - Purdue University

Pixhawk and other electronics - Purdue University

BGC gimbal & Pixhawk SToRM32 Gimbal Controllermymobilemms.com/OFFTHEGRIDWATER.CA/BGC-gimbal-Pixhawk.pdfBGC gimbal & Pixhawk SToRM32 Gimbal Controller ... communicate with ArduPilot

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Striping LVs • Solarus • Linux Gaming • Android ...books.archive.tjw.moe/computing/ODROID-Magazine-201512.pdf · Multiboot your ODROID-XU4 Robot The future of sports is coming

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