Modified : 2018.2.12

Introduce drone module

Drone classes

Drone class constructor

Drone classes constructor as follows :

def __init__(self, flagCheckBackground = True, flagShowErrorMessage = False, flagShowLogMessage = False, flagShowTransferData = False, flagShowReceiveData = False):

Name	Description
flagCheckBackground	Check received data in background
flagShowErrorMessage	Show error message
flagShowLogMessage	Show log message
flagShowTransferData	Display the send data array
flagShowReceiveData	Display the receive data array

If Drone class constuctor does not call specify it's initial variable flagCheckBackground is True and all ohter value is False. If flagCheckBackground is True, Whenever receive data, Invoke check() function from inner class. If flagCheckBackground is False, Whenever receive data, You must manualy call check() function to process the received data.

Drone class's public methods

Drone class's public methods list.

Name	Description
isOpen()	Serial port connection status return
isConnected()	BLE connection status return
open(portName)	Open serial port. If you do not specify a port name, connect to the last detected device. Return True when port is opened
connect(portName, deviceName, flagSystemReset)	If the serial port is not open, open the serial port, Search for PETRONE and connect it to the device with the strongest signal. If you specify a deviceName, Connect only when the specified device is discovered. flagSystemReset is use to reset and start the first PETRONE LINK after the serial communication connection. Default value is False.
close()	Close serial port
makeTransferDataArray(header, data)	Make transfer byte data array.
transfer(header, data)	Trnasfer data(Internal call makeTransferDataArray function)
check()	Check received data. Returns DataType when Data Received
checkDetail()	Check received data. Return header and data to tuple
setEventHandler(dataType, eventHandler)	Register a custom function to call when data of a specific type is received
getHeader(dataType)	Returns the received header with the specified type of data
getData(dataType)	Returns the received data (If does not have data, Return None.)
getCount(dataType)	Returns the number of times the specified type was received (If never received data, Return 0.)

Drone class data processing unit

Drone class's receive data processing unit is organized as follows

Name	Description
_receiving()	Data receiving Thread, Save received data to buffer.
check()	Read 1-byte of data stored in the buffer and pass it to the receiver. If one data block received call _handler(), data parsing and return the datatype. Returns DataType.None_ if no data received.
_handler()	Save header internally. Data parsing and saved internal class. If event handler is registered call function.

Function list

Common

Name	Description
sendPing	Send Ping
sendRequest	Send Request

Control

Name	Description
sendTakeOff	Takeoff
sendLanding	Landing
sendStop	Stop
sendControl	Send Flight control
sendControlWhile	Send Flight control during the specified time
sendControlDrive	Send Drive control
sendControlDriveWhile	Send Drive control during the specified time

Setting

Name	Description
sendCommand	Send command
sendModeVehicle	Flight/Drive mode change
sendHeadless	Headless mode setting
sendTrim	Trim setting
sendTrimFlight	Flight Trim setting
sendTrimDrive	Drive Trim setting
sendFlightEvent	Execute flight event
sendDriveEvent	Execute drive event
sendClearTrim	Clear Trim data
sendClearGyroBias	Clear Gyro bias
sendUpdateLookupTarget	Check firmware information

Motor

Name	Description
sendMotor	Control motor

IR

Name	Description
sendIrMessage	Send IR Message

LED

Name	Description
sendLightMode	Mode setting(Pallet)
sendLightModeCommand	Mode setting(Pallet), Command
sendLightModeCommandIr	Mode setting(Pallet), Command, IR
sendLightModeColor	Mode setting(RGB)
sendLightEvent	Event setting(Pallet)
sendLightEventCommand	Event setting(Pallet), Command
sendLightEventCommandIr	Event setting(Pallet), Command, IR
sendLightEventColor	Event setting(RGB)

LINK

Name	Description
sendLinkModeBroadcast	LINK Broadcast mode change
sendLinkSystemReset	LINK reset
sendLinkDiscoverStart	PETRONE scan start
sendLinkDiscoverStop	PETRONE scan stop
sendLinkConnect	PETRONE connect
sendLinkDisconnect	PETRONE disconnect
sendLinkRssiPollingStart	RSSI polling start
sendLinkRssiPollingStop	RSSI polling stop

Function declaration.

sendPing

Send ping

Check drone connection status. Response is ack.

def sendPing(self):

sendRequest

Request data

For request data.

def sendRequest(self, dataType):

Variable name	Type and Range	Description
dataType	DataType	data type

sendTakeOff

TakeOff

This function work only flight mode. ( In Ready state )

def sendTakeOff(self):

sendLanding

Landing

This function work only flight mode. ( In Flight state )

def sendLanding(self):

sendStop

Stop

Used to force stop of drone action.

def sendStop(self):

sendControl

Flight control

Can be used for both flight and drive mode.

def sendControl(self, roll, pitch, yaw, throttle):

Variable name	Type and Range	Description
roll	-100 ~ 100	Roll
pitch	-100 ~ 100	Pitch
yaw	-100 ~ 100	Yaw
throttle	-100 ~ 100	Throttle

sendControlWhile

Flight control

Can be used for both flight and drive mode. Sends the control commands for the ms specified in timeMs.

def sendControlWhile(self, roll, pitch, yaw, throttle, timeMs):

Variable name	Type and Range	Description
roll	-100 ~ 100	Roll
pitch	-100 ~ 100	Pitch
yaw	-100 ~ 100	Yaw
throttle	-100 ~ 100	Throttle
timeMs	0 ~ 1,000,000	Work time(ms)

sendControlDrive

Drive control

This function work only drive mode.

def sendControlDrive(self, wheel, accel):

Variable name	Type and Range	Description
wheel	-100 ~ 100	Wheel
accel	-100 ~ 100	Accel

sendControlDriveWhile

Drive control

This function work only drive mode. Sends the control commands for the ms specified in timeMs.

def sendControlDriveWhile(self, wheel, accel, timeMs):

Variable name	Type and Range	Description
wheel	-100 ~ 100	Wheel
accel	-100 ~ 100	Accel
timeMs	0 ~ 1,000,000	Work time(ms)

sendCommand

Send command

Send drone command.

The option must have a value or a enumerate value for each type.

def sendCommand(self, commandType, option = 0):

Variable name	Type and Range	Description
commandType	CommandType	Command type
option	ModeVehicle	Option
	FlightEvent
	DriveEvent
	Headless
	Trim
	UInt8

sendModeVehicle

Vehicle mode setting

You can change the drone to flight or drive mode.

def sendModeVehicle(self, modeVehicle):

Variable name	Type and Range	Description
modeVehicle	ModeVehicle	Vehicle mode

sendHeadless

Headless mode setting

def sendHeadless(self, headless):

Variable name	Type and Range	Description
headless	Headless	Headless mode

sendTrim

Trim setting

def sendTrim(self, trim):

Variable name	Type and Range	Description
trim	Trim	Trim setting

sendTrimFlight

Flight Trim setting

def sendTrimFlight(self, roll, pitch, yaw, throttle):

Variable name	Type and Range	Description
roll	-200 ~ 200	Roll
pitch	-200 ~ 200	Pitch
yaw	-200 ~ 200	Yaw
throttle	-200 ~ 200	Throttle

sendTrimDrive

Drive Trim setting

def sendTrimDrive(self, wheel):

Variable name	Type and Range	Description
wheel	-200 ~ 200	Wheel

sendFlightEvent

Send Flight event

def sendFlightEvent(self, flightEvent):

Variable name	Type and Range	Description
flightEvent	FlightEvent	Flight event

sendDriveEvent

Send Drive event

def sendDriveEvent(self, driveEvent):

Variable name	Type and Range	Description
driveEvent	DriveEvent	Drive event

sendClearTrim

Clear Flight and Drive Trim

def sendClearTrim(self):

sendClearGyroBias

Clear Accel and Gyro Bias

def sendClearGyroBias(self):

sendMotor

Rotate the 4 motors in a predefined direction

def sendMotor(self, motor0, motor1, motor2, motor3):

Variable name	Type and Range	Description
motor0	0 ~ 4095	Front left moter speed
motor1	0 ~ 4095	Front right moter speed
motor2	0 ~ 4095	Rear right moter speed
motor3	0 ~ 4095	Rear left moter speed

sendIrMessage

Send IR Message

def sendIrMessage(self, value):

Variable name	Type and Range	Description
value	0x00000000 ~ 0xFFFFFFFF	IR Message value

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