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发表于 2011-3-3 17:28:37
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MAPGPS,我看了你的ARDrone.java,非常感谢!
有个疑问,想请你看一下,在ARDrone.java中,控制运动的指令,AT*PCMD=<sequence>,<enable>,<pitch>,<roll>,<gaz>,<yaw>
我阅读了官方的开发文档ARDrone_SDK_1_6_Developer_Guide.pdf,
ardrone_at_set_progress_cmd
Summary: Moves the drone
Corresponding AT command: AT*PCMD
Args: (
int flags : Flag enabling the use of progressive commands and the new Combined Yaw control mode
float phi : Left/right angle 2 [1:0; +1:0]
float theta: Front/back angle 2 [1:0; +1:0]
float gaz : Vertical speed 2 [1:0; +1:0]
float yaw : Angular speed 2 [1:0; +1:0]
)
Description:
This function makes the drone move in the air. It has no effect when the drone lies on the ground.
The drone is controlled by giving as a command a set of four parameters:
a left/right bending angle, with 0 being the horizontal plane, and negative values bending leftward
a front/back bending angle, with 0 being the horizontal plane, and negative values bending frontward
a vertical speed
an angular speed around the yaw-axis
我的理解:
Gaz: 垂直速度
Throttle: 油门
Pitch/Theta: 俯仰
Roll/Phi: 滚转或横滚
Yaw/Psi: 偏航
与你的程序比较,Pitch和Roll刚好错位,还是我理解有误?麻烦看一下,再次感谢! |
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