nodecopter-leap
Version:
control your drone with the Leap Motion controller
322 lines (321 loc) • 22.3 kB
JavaScript
{
header: 1432778632,
droneState:
{
flying: 0,
videoEnabled: 0,
visionEnabled: 0,
controlAlgorithm: 0,
altitudeControlAlgorithm: 1,
startButtonState: 0,
controlCommandAck: 1,
cameraReady: 1,
travellingEnabled: 0,
usbReady: 0,
navdataDemo: 0,
navdataBootstrap: 0,
motorProblem: 0,
communicationLost: 0,
softwareFault: 0,
lowBattery: 0,
userEmergencyLanding: 0,
timerElapsed: 0,
MagnometerNeedsCalibration: 0,
anglesOutOfRange: 0,
tooMuchWind: 0,
ultrasonicSensorDeaf: 0,
cutoutDetected: 0,
picVersionNumberOk: 1,
atCodecThreadOn: 1,
navdataThreadOn: 1,
videoThreadOn: 1,
acquisitionThreadOn: 1,
controlWatchdogDelay: 0,
adcWatchdogDelay: 0,
comWatchdogProblem: 1,
emergencyLanding: 0 },
sequenceNumber: 12563,
visionFlag: 1,
demo:
{ controlState: 'CTRL_LANDED',
flyState: 'FLYING_OK',
batteryPercentage: 67,
rotation:
{ frontBack: -0.074,
pitch: -0.074,
theta: -0.074,
y: -0.074,
leftRight: 2.011,
roll: 2.011,
phi: 2.011,
x: 2.011,
clockwise: -0.657,
yaw: -0.657,
psi: -0.657,
z: -0.657 },
frontBackDegrees: -0.074,
leftRightDegrees: 2.011,
clockwiseDegrees: -0.657,
altitude: 0,
altitudeMeters: 0,
velocity: { x: 0, y: 0, z: 0 },
xVelocity: 0,
yVelocity: 0,
zVelocity: 0,
frameIndex: 0,
detection: { camera: [Object], tagIndex: 0 },
drone: { camera: [Object] } },
time: 967191.558,
rawMeasures:
{ accelerometers: { x: 2048, y: 2040, z: 2560 },
gyroscopes: { x: 15, y: -11, z: 1 },
gyrometers: { x: 15, y: -11, z: 1 },
gyroscopes110: { x: 0, y: 0 },
gyrometers110: [ 0, 0 ],
batteryMilliVolt: 11971,
us: { echo: [Object], curve: [Object] },
usDebutEcho: 0,
usFinEcho: 0,
usAssociationEcho: 3758,
usDistanceEcho: 0,
usCourbeTemps: 17137,
usCourbeValeur: 0,
usCourbeRef: 120,
echo: { flagIni: 1, num: 1, sum: 2490446 },
flagEchoIni: 1,
nbEcho: 1,
sumEcho: 2490446,
altTemp: 243,
altTempRaw: 243 },
physMeasures:
{ temperature: { accelerometer: 25.874191284179688, gyroscope: 50501 },
accelerometers: { x: 84.7540054321289, y: -55.48382568359375, z: -991.001953125 },
gyroscopes:
{ x: -0.20279675722122192,
y: -0.09362932294607162,
z: 0.014267011545598507 },
alim3V3: 0,
vrefEpson: 0,
vrefIDG: 0 },
gyrosOffsets: { x: -0.2382582426071167, y: 0.03965304419398308, z: 0 },
eulerAngles: { theta: 4880, phi: 3204 },
references:
{ theta: 0,
phi: 0,
thetaI: 0,
phiI: 0,
pitch: 0,
roll: 0,
yaw: 0,
psi: 0,
vx: 0,
vy: 0,
thetaMod: 0,
phiMod: 0,
kVX: 0,
kVY: 0,
kMode: 0,
ui: { time: 0, theta: 0, phi: 0, psi: 0, psiAccuracy: 0, seq: 0 } },
trims:
{ angularRates: { r: 0 },
eulerAngles: { theta: 4893.89892578125, phi: 808.5094604492188 } },
rcReferences: { pitch: 0, roll: 0, yaw: 0, gaz: 0, ag: 0 },
pwm:
{ motors: [ 0, 0, 0, 0 ],
satMotors: [ 255, 255, 255, 255 ],
gazFeedForward: 0,
gazAltitude: 0,
altitudeIntegral: 0,
vzRef: 0,
uPitch: 0,
uRoll: 0,
uYaw: 0,
yawUI: 0,
uPitchPlanif: 0,
uRollPlanif: 0,
uYawPlanif: 0,
uGazPlanif: 0,
motorCurrents: [ 0, 0, 0, 0 ],
altitudeProp: 0,
altitudeDer: 0 },
altitude:
{ vision: 243,
velocity: 0,
ref: 0,
raw: 243,
observer: { acceleration: 0, altitude: 0, x: [Object], state: 0 },
estimated: { vb: [Object], state: 0 } },
visionRaw: { tx: 2.71901798248291, ty: 1.7456281185150146, tz: 0 },
visionOf: { dx: [ 0, 0, 0, 0, 0 ], dy: [ 0, 0, 0, 0, 0 ] },
vision:
{ state: 2,
misc: 0,
phi: { trim: 0, refProp: 0 },
theta: { trim: 0, refProp: 0 },
newRawPicture: 0,
capture:
{ theta: -0.0012769157765433192,
phi: 0.03510051593184471,
psi: -0.0114898681640625,
altitude: 243,
time: 967.179 },
bodyV: { x: 0, y: 0, z: 0 },
delta: { phi: 0, theta: 0, psi: 0 },
gold: { defined: 0, reset: 0, x: 0, y: 0 } },
visionPerf:
{ szo: 0,
corners: 0,
compute: 0,
tracking: 0,
trans: 0,
update: 0,
custom: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] },
trackersSend:
{ locked: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ],
point:
[ [Object],
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visionDetect:
{ nbDetected: 0,
type: [ 0, 0, 0, 0 ],
xc: [ 0, 0, 0, 0 ],
yc: [ 0, 0, 0, 0 ],
width: [ 0, 0, 0, 0 ],
height: [ 0, 0, 0, 0 ],
dist: [ 0, 0, 0, 0 ],
orientationAngle: [ 0, 0, 0, 0 ],
rotation: [ [Object], [Object], [Object], [Object] ],
translation: [ [Object], [Object], [Object], [Object] ],
cameraSource: [ 0, 0, 0, 0 ] },
watchdog: 4882,
adcDataFrame:
{ version: 0,
dataFrame:
[ 0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
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videoStream:
{ quant: 0,
frame: { size: 3530, number: 1916 },
atcmd:
{ sequence: 88,
meanGap: 0,
varGap: 16.309507369995117,
quality: 0 },
bitrate: { out: 0, desired: 0 },
data: [ 0, 0, 0, 0, 0 ],
tcpQueueLevel: 0,
fifoQueueLevel: 0 },
games: { counters: { doubleTap: 0, finishLine: 0 } },
pressureRaw: { up: 40942, ut: 30057, temperature: 263, pressure: 101362 },
magneto:
{ mx: -86,
my: -44,
mz: -46,
raw: { x: 157.78125, y: 310.40625, z: 171.421875 },
rectified:
{ x: -27.909503936767578,
y: 262.16204833984375,
z: 180.69992065429688 },
offset: { x: 185.45669555664062, y: 42.0614128112793, z: 0 },
heading:
{ unwrapped: 0,
gyroUnwrapped: 0.000055655389587627724,
fusionUnwrapped: -0.6579544544219971 },
ok: 1,
state: 513,
radius: -61135,
error:
{ mean: 1.814361230523632e-37,
variance: -0.0000015199406107058167 } },
windSpeed:
{ speed: 0,
angle: 0,
compensation: { theta: 0, phi: 0 },
stateX:
[ 0.7382514476776123,
0.1678268015384674,
0,
0,
832.8936767578125,
-170.0524444580078 ],
debug: [ 0, 0, 0 ] },
kalmanPressure:
{ offsetPressure: 101359,
estimated:
{ altitude: 0,
velocity: 0,
angle: [Object],
us: [Object],
covariance: [Object],
groundEffect: true,
sum: 1.401298464324817e-45,
reject: false,
uMultisinus: 0,
gazAltitude: 0,
flagMultisinus: false,
flagMultisinusStart: false } },
hdvideoStream:
{ hdvideoState: 0,
storageFifo: { nbPackets: 0, size: 0 },
usbkey: { size: 0, freespace: 0, remainingTime: 0 },
frameNumber: 0 },
wifi: { linkQuality: 1 },
zimmu3000: { vzimmuLSB: 0, vzfind: 0 } }