All ARDrone3-only commands All commands related to piloting the drone Boolean flag: 1 if the roll and pitch values should be taken in consideration. 0 otherwise Roll angle as signed percentage. On copters: Roll angle expressed as signed percentage of the max pitch/roll setting, in range [-100, 100] -100 corresponds to a roll angle of max pitch/roll to the left (drone will fly left) 100 corresponds to a roll angle of max pitch/roll to the right (drone will fly right) This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter. On fixed wings: Roll angle expressed as signed percentage of the physical max roll of the wing, in range [-100, 100] Negative value makes the plane fly to the left Positive value makes the plane fly to the right Pitch angle as signed percentage. On copters: Expressed as signed percentage of the max pitch/roll setting, in range [-100, 100] -100 corresponds to a pitch angle of max pitch/roll towards sky (drone will fly backward) 100 corresponds to a pitch angle of max pitch/roll towards ground (drone will fly forward) This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter. On fixed wings: Expressed as signed percentage of the physical max pitch of the wing, in range [-100, 100] Negative value makes the plane fly in direction of the sky Positive value makes the plane fly in direction of the ground Yaw rotation speed as signed percentage. On copters: Expressed as signed percentage of the max yaw rotation speed setting, in range [-100, 100]. -100 corresponds to a counter-clockwise rotation of max yaw rotation speed 100 corresponds to a clockwise rotation of max yaw rotation speed This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter. On fixed wings: Giving more than a fixed value (75% for the moment) triggers a circle. Positive value will trigger a clockwise circling Negative value will trigger a counter-clockwise circling Throttle as signed percentage. On copters: Expressed as signed percentage of the max vertical speed setting, in range [-100, 100] -100 corresponds to a max vertical speed towards ground 100 corresponds to a max vertical speed towards sky This value may be clamped if necessary, in order to respect the maximum supported physical tilt of the copter. During the landing phase, putting some positive gaz will cancel the land. On fixed wings: Expressed as signed percentage of the physical max throttle, in range [-100, 100] Negative value makes the plane fly slower Positive value makes the plane fly faster Command timestamp in milliseconds (low 24 bits) + command sequence number (high 8 bits) [0;255]. 1 to start the navigate home, 0 to stop it State of automatic take off mode (1 for autotake off enabled) Wanted displacement along the front axis [m] Wanted displacement along the right axis [m] Wanted displacement along the down axis [m] Wanted rotation of heading [rad] State of user take off mode - 1 to enter in user take off. - 0 to exit from user take off. The circling direction Circling ClockWise Circling Counter ClockWise Use drone default Circling direction set by CirclingDirection cmd Latitude of the location (in degrees) to reach Longitude of the location (in degrees) to reach Altitude above sea level (in m) to reach Orientation mode of the move to The drone won't change its orientation The drone will make a rotation to look in direction of the given location The drone will orientate itself to the given heading before moving to the location The drone will orientate itself to the given heading while moving to the location Heading (relative to the North in degrees). This value is only used if the orientation mode is HEADING_START or HEADING_DURING Animation commands Direction for the flip Flip direction front Flip direction back Flip direction right Flip direction left Ask the drone to move camera Tilt camera consign for the drone (in degree) The value is saturated by the drone. Saturation value is sent by thre drone through CameraSettingsChanged command. Pan camera consign for the drone (in degree) The value is saturated by the drone. Saturation value is sent by thre drone through CameraSettingsChanged command. Tilt camera consign for the drone (in degree) The value is saturated by the drone. Saturation value is sent by thre drone through CameraSettingsChanged command. Pan camera consign for the drone (in degree) The value is saturated by the drone. Saturation value is sent by thre drone through CameraSettingsChanged command. Tilt camera velocity consign [deg/s] Negative tilt velocity move camera to bottom Positive tilt velocity move camera to top Pan camera velocity consign [deg/s] Negative pan velocity move camera to left Positive pan velocity move camera to right Media recording management Mass storage id to take picture Command to record video Stop the video recording Start the video recording Mass storage id to record Command to record video Stop the video recording Start the video recording State of media recording 1 if picture has been taken, 0 otherwise Mass storage id where the picture was recorded State of video Video was stopped Video was started Video was failed Video was auto stopped Mass storage id where the video was recorded State of device picture recording The picture recording is ready The picture recording is busy The picture recording is not available Error to explain the state No Error Unknown generic error Picture camera is out of order Memory full ; cannot save one additional picture Battery is too low to start/keep recording. State of device video recording Video is stopped Video is started The video recording is not available Error to explain the state No Error Unknown generic error Video camera is out of order Memory full ; cannot save one additional video Battery is too low to start/keep recording. Streaming resolution 360p resolution. 480p resolution. 720p resolution. 1080p resolution. Recording resolution 360p resolution. 480p resolution. 720p resolution. 1080p resolution. Events of media recording Last event of picture recording Picture taken and saved Picture failed Error to explain the event No Error Unknown generic error ; only when state is failed Picture recording is busy ; only when state is failed Picture recording not available ; only when state is failed Memory full ; only when state is failed Battery is too low to record. Event of video recording Video start Video stop and saved Video failed Error to explain the event No Error Unknown generic error ; only when state is failed Video recording is busy ; only when state is failed Video recording not available ; only when state is failed Memory full Battery is too low to record. Video was auto stopped State from drone Drone flying state Landed state Taking off state Hovering / Circling (for fixed wings) state Flying state Landing state Emergency state User take off state. Waiting for user action to take off. Motor ramping state (for fixed wings). Emergency landing state. Drone autopilot has detected defective sensor(s). Only Yaw argument in PCMD is taken into account. All others flying commands are ignored. Drone alert state No alert User emergency alert Cut out alert Critical battery alert Low battery alert The angle of the drone is too high State of navigate home Navigate home is available Navigate home is in progress Navigate home is not available Navigate home has been received, but its process is pending Reason of the state User requested a navigate home (available->inProgress) Connection between controller and product lost (available->inProgress) Low battery occurred (available->inProgress) Navigate home is finished (inProgress->available) Navigate home has been stopped (inProgress->available) Navigate home disabled by product (inProgress->unavailable or available->unavailable) Navigate home enabled by product (unavailable->available) Latitude position in decimal degrees (500.0 if not available) Longitude position in decimal degrees (500.0 if not available) Altitude in meters (from GPS) Speed relative to the North (when drone moves to the north, speed is > 0) (in m/s) Speed relative to the East (when drone moves to the east, speed is > 0) (in m/s) Speed on the z axis (when drone moves down, speed is > 0) (in m/s) roll value (in radian) Pitch value (in radian) Yaw value (in radian) State of automatic take off mode (1 if enabled) Altitude in meters Latitude location in decimal degrees (500.0 if not available) Longitude location in decimal degrees (500.0 if not available) Altitude location in meters. Latitude location error in meters (1 sigma/standard deviation) -1 if not available. Longitude location error in meters (1 sigma/standard deviation) -1 if not available. Altitude location error in meters (1 sigma/standard deviation) -1 if not available. Drone landing state Linear landing Spiral landing Speed relative to air on x axis (speed is always > 0) (in m/s) Latitude of the location (in degrees) to reach Longitude of the location (in degrees) to reach Altitude above sea level (in m) to reach Orientation mode of the move to The drone won't change its orientation The drone will make a rotation to look in direction of the given location The drone will orientate itself to the given heading before moving to the location The drone will orientate itself to the given heading while moving to the location Heading (relative to the North in degrees). This value is only used if the orientation mode is HEADING_START or HEADING_DURING Status of the move to The drone is actually flying to the given position The drone has reached the target The move to has been canceled, either by a new moveTo command or by a CancelMoveTo command. The move to has not been finished or started because of an error. Events of Piloting Distance traveled along the front axis [m] Distance traveled along the right axis [m] Distance traveled along the down axis [m] Applied angle on heading [rad] Error to explain the event No Error ; The relative displacement Unknown generic error The Device is busy ; command moveBy ignored Command moveBy is not available ; command moveBy ignored Command moveBy interrupted Network related commands The band(s) : 2.4 Ghz, 5 Ghz, or both 2.4 GHz band 5 GHz band Both 2.4 and 5 GHz bands Network state from Product SSID of the AP RSSI of the AP in dbm (negative value) The band : 2.4 GHz or 5 GHz 2.4 GHz band 5 GHz band Channel of the AP The band of this channel : 2.4 GHz or 5 GHz 2.4 GHz band 5 GHz band The authorized channel. Bit 0 is 1 if channel is authorized outside (0 otherwise) ; Bit 1 is 1 if channel is authorized inside (0 otherwise) Piloting Settings commands Current altitude max in m Current tilt max in degree 1 to enable, 0 to disable Current max distance in meter 1 if the drone can't fly further than max distance, 0 if no limitation on the drone should be done maximum horizontal speed [m/s] maximum vertical speed [m/s] maximum horizontal acceleration [m/s2] maximum vertical acceleration [m/s2] maximum yaw rotation speed [deg/s] 1 to enable, 0 to disable Current altitude min in m The circling direction Circling ClockWise Circling Counter ClockWise The circling radius in meter The circling altitude in meter The Pitch mode Positive pitch values will make the drone lower its nose. Negative pitch values will make the drone raise its nose. Pitch commands are inverted. Positive pitch values will make the drone raise its nose. Negative pitch values will make the drone lower its nose. Piloting Settings state from product Current altitude max Range min of altitude Range max of altitude Current max tilt Range min of tilt Range max of tilt 1 if enabled, 0 if disabled Current max distance in meter Minimal possible max distance Maximal possible max distance 1 if the drone won't fly further than max distance, 0 if no limitation on the drone will be done maximum horizontal speed [m/s] maximum vertical speed [m/s] maximum horizontal acceleration [m/s2] maximum vertical acceleration [m/s2] maximum yaw rotation speed [deg/s] 1 if enabled, 0 if disabled Current altitude min Range min of altitude min Range max of altitude min The circling direction Circling ClockWise Circling Counter ClockWise The current circling radius in meter Range min of circling radius in meter Range max of circling radius in meter The current circling altitude in meter Range min of circling altitude in meter Range max of circling altitude in meter The Pitch mode Positive pitch values will make the drone lower its nose. Negative pitch values will make the drone raise its nose. Pitch commands are inverted. Positive pitch values will make the drone raise its nose. Negative pitch values will make the drone lower its nose. Speed Settings commands Current max vertical speed in m/s Current max yaw rotation speed in degree/s 1 if present, 0 if not present 1 if outdoor flight, 0 if indoor flight Current max pitch/roll rotation speed in degree/s Speed Settings state from product Current max vertical speed in m/s Range min of vertical speed Range max of vertical speed Current max yaw rotation speed in degree/s Range min of yaw rotation speed Range max of yaw rotation speed 1 if present, 0 if not present 1 if outdoor flight, 0 if indoor flight Current max pitch/roll rotation speed in degree/s Range min of pitch/roll rotation speed Range max of pitch/roll rotation speed Network settings commands The type of wifi selection (auto, manual) Auto selection Manual selection The allowed band(s) : 2.4 Ghz, 5 Ghz, or all 2.4 GHz band 5 GHz band Both 2.4 and 5 GHz bands The channel (not used in auto mode) The type of wifi security (open, wpa2) Wifi is not protected by any security (default) Wifi is protected by wpa2 The key to secure the network (empty if type is open) Type of the key Key is plain text, not encrypted Network settings state from product The type of wifi selection settings Auto selection Auto selection 2.4ghz Auto selection 5 ghz Manual selection The actual wifi band state 2.4 GHz band 5 GHz band Both 2.4 and 5 GHz bands The channel (depends of the band) The type of wifi security (open, wpa2) Wifi is not protected by any security (default) Wifi is protected by wpa2 The type of wifi security (open, wpa2) Wifi is not protected by any security (default) Wifi is protected by wpa2 The key used to secure the network (empty if type is open) Type of the key Key is plain text, not encrypted Settings state from product Product Motor number Product Motor type Product Motors software version Product Motors hardware version Product GPS software version Product GPS hardware version Bit field for concerned motor. If bit 0 = 1, motor 1 is affected by this error. Same with bit 1, 2 and 3. Motor 1: front left Motor 2: front right Motor 3: back right Motor 4: back left Enumeration of the motor error No error detected EEPROM access failure Motor stalled Propeller cutout security triggered Communication with motor failed by timeout RC emergency stop Motor controler scheduler real-time out of bounds One or several incorrect values in motor settings Too hot or too cold Cypress temperature Battery voltage out of bounds Incorrect number of LIPO cells Defectuous MOSFET or broken motor phases Not use for BLDC but useful for HAL Error Made by BLDC_ASSERT() name of the version : dot separated fields (major version - minor version - firmware type - nb motors handled). Firmware types : Release, Debug, Alpha, Test-bench total number of flights Duration of the last flight (in seconds) Duration of all flights (in seconds) Enumeration of the motor error No error detected EEPROM access failure Motor stalled Propeller cutout security triggered Communication with motor failed by timeout RC emergency stop Motor controler scheduler real-time out of bounds One or several incorrect values in motor settings Battery voltage out of bounds Incorrect number of LIPO cells Defectuous MOSFET or broken motor phases Too hot or too cold Cypress temperature Not use for BLDC but useful for HAL Error Made by BLDC_ASSERT() Product P7ID Product main cpu id Product main cpu id Photo settings chosen by the user The type of photo format Take raw image Take a 4:3 jpeg photo Take a 16:9 snapshot from camera Take jpeg fisheye image only The type auto white balance Auto guess of best white balance params Tungsten white balance Daylight white balance Cloudy white balance White balance for a flash Exposition value (bounds given by ExpositionChanged arg min and max, by default [-3:3]) Saturation value (bounds given by SaturationChanged arg min and max, by default [-100:100]) 1 if timelapse is enabled, 0 otherwise interval in seconds for taking pictures 1 if video autorecord is enabled, 0 otherwise Mass storage id to take video Video stabilization mode Video flat on roll and pitch Video flat on pitch only Video flat on roll only Video follows drone angles Video recording mode Maximize recording quality. Maximize recording time. Video framerate 23.976 frames per second. 25 frames per second. 29.97 frames per second. Video streaming and recording resolutions 1080p recording, 480p streaming. 720p recording, 720p streaming. Photo settings state from product The type of photo format Take raw image Take a 4:3 jpeg photo Take a 16:9 snapshot from camera Take jpeg fisheye image only The type auto white balance Auto guess of best white balance params Tungsten white balance Daylight white balance Cloudy white balance White balance for a flash Exposure value Min exposure value Max exposure value Saturation value Min saturation value Max saturation value 1 if timelapse is enabled, 0 otherwise interval in seconds for taking pictures Minimal interval for taking pictures Maximal interval for taking pictures 1 if video autorecord is enabled, 0 otherwise Mass storage id for the taken video Video stabilization mode Video flat on roll and pitch Video flat on pitch only Video flat on roll only Video follows drone angles Video recording mode Maximize recording quality. Maximize recording time. Video framerate 23.976 frames per second. 25 frames per second. 29.97 frames per second. Video resolution type. 1080p recording, 480p streaming. 720p recording, 720p streaming. Control media streaming behavior. 1 to enable, 0 to disable. Video stream mode stream mode Minimize latency with average reliability (best for piloting). Maximize the reliability with an average latency (best when streaming quality is important but not the latency). Maximize the reliability using a framerate decimation with an average latency (best when streaming quality is important but not the latency). Media streaming status. Current video streaming status. Video streaming is enabled. Video streaming is disabled. Video streaming failed to start. Video stream mode state stream mode Minimize latency with average reliability (best for piloting). Maximize the reliability with an average latency (best when streaming quality is important but not the latency). Maximize the reliability using a framerate decimation with an average latency (best when streaming quality is important but not the latency). GPS settings Home latitude in decimal degrees Home longitude in decimal degrees Home altitude in meters GPS latitude in decimal degrees GPS longitude in decimal degrees GPS altitude in meters Horizontal Accuracy in meter ; equal -1 if no horizontal Accuracy Vertical Accuracy in meter ; equal -1 if no vertical Accuracy The type of the home position The drone will try to return to the take off position The drone will try to return to the pilot position The drone will try to return to the target of the current (or last) follow me Delay in second GPS settings state Home latitude in decimal degrees Home longitude in decimal degrees Home altitude in meters Home latitude in decimal degrees Home longitude in decimal degrees Home altitude in meters 1 if gps on drone is fixed, 0 otherwise The state of the gps update Drone GPS update succeed Drone GPS update In progress Drone GPS update failed The type of the home position The drone will try to return to the take off position The drone will try to return to the pilot position The drone will try to return to the target of the current (or last) follow me Delay in second GPS latitude in decimal degrees GPS longitude in decimal degrees Camera state Tilt camera consign for the drone [-100;100] Pan camera consign for the drone [-100;100] Tilt value (in degree) Pan value (in degree) Tilt camera consign for the drone [deg] Pan camera consign for the drone [deg] Tilt value [deg] Pan value [deg] Absolute max tilt velocity [deg/s] Absolute max pan velocity [deg/s] Anti-flickering related commands Type of the electric frequency Electric frequency of the country is 50hz Electric frequency of the country is 60hz Mode of the anti flickering functionnality Anti flickering based on the electric frequency previously sent Anti flickering based on a fixed frequency of 50Hz Anti flickering based on a fixed frequency of 60Hz Anti-flickering related states Type of the electric frequency Electric frequency of the country is 50hz Electric frequency of the country is 60hz Mode of the anti flickering functionnality Anti flickering based on the electric frequency previously sent Anti flickering based on a fixed frequency of 50Hz Anti flickering based on a fixed frequency of 60Hz GPS related States The number of satellite The type of the return home The drone has enough information to return to the take off position The drone has enough information to return to the pilot position The drone has not enough information, it will return to the first GPS fix The drone has enough information to return to the target of the current (or last) follow me 1 if this type is available, 0 otherwise The type of the return home chosen The drone will return to the take off position The drone will return to the pilot position In this case, the drone will use the position given by ARDrone3-SendControllerGPS The drone has not enough information, it will return to the first GPS fix The drone will return to the target of the current (or last) follow me In this case, the drone will use the position of the target of the followMe (given by ControllerInfo-GPS) Pro features enabled on the Bebop Bitfield representing enabled features. Information about the connected accessories Id of the accessory for the session. Accessory type Parrot Sequoia (multispectral camera for agriculture) UNKNOWNACCESSORY_1 camera (thermal+rgb camera) Unique Id of the accessory. This id is unique by accessory_type. Software Version of the accessory. List entry attribute Bitfield. 0x01: First: indicate it's the first element of the list. 0x02: Last: indicate it's the last element of the list. 0x04: Empty: indicate the list is empty (implies First/Last). All other arguments should be ignored. 0x08: Remove: This value should be removed from the existing list.